Hello, I am working with an ancient RJ robot. We changed the 4 batteries on the robot about two weeks ago (with the power on), then when I turned the robot off and back on this past Friday, it turned back on with a BZAL on all six axes and robot not mastered. The robot was at our home (not factory zero) position when this happened and we scribed it before it was moved. We also wrote down the joint angles at this position, although this was only after the loss of mastering. The battery issue has seemingly been corrected.
I think mistakes were made here however. Support advised us to move each axis more than 20 degrees, and back to the joint angles we’d recorded, then single axis master all 6 at once by entering that same angle value into the master position column.
After completing master/cal, the home position in our programs is very close on axis 1 and 3, but wildly off otherwise including a full 365 rotation on one or both the rotational axes. Obviously our programs are unusable, and we’d like to just get as close as possible to minimize touchup.
There is an immovable beam preventing full extension into factory zero position, which is part of why we didn’t attempt that initially. It is possible to rotate axis 1 and get the other 5 aligned to the witness marks. Bringing me to my questions:
Can we zero master with axis 1 off then “fix” that one with single? How best might this be done if possible?
Are the joint angles that were displayed after the initial power on/off that lost the mastering likely to have been different from what they’d been before mastering was lost?
Any input on what should’ve been done from the start/along the way or on what to do now to salvage would be greatly appreciated!
Thanks
